Delta RMC151 - Manual (Page 203)

3 Controller Features
6. Make Sure the User Program Always Runs
As described in more detail in the Custom Feedback topic, do the following:
a. Set the RMC to start in RUN mode.
b. Use a _FirstScan condition in the Program Triggers to start the user program when the
RMC enters RUN mode.
c. Make sure the task does not stop when an axis halts. This can be set in the
Programming Properties, on the Halts page.
7. Tune the Axis
a. Tune the axis manually (auto-tuning does not work in RUN mode).
8. Program your application
Program the rest of your application. Keep in mind that if you want other user programs
to run even if one feedback transducer fails, you will need to set the Programming
Properties Halts page such that the tasks running those user programs do not halt.
3.11. Applications
3.11.1. Electric Servo Motor Control
The RMC family of motion controllers excels at electric servo motion control. The RMC is a
general-purpose controller. To interface with an electric motor, you will need an amplifier or
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